CN107728614A - Blind person's guided robot and its method of work - Google Patents
Blind person's guided robot and its method of work Download PDFInfo
- Publication number
- CN107728614A CN107728614A CN201710858459.9A CN201710858459A CN107728614A CN 107728614 A CN107728614 A CN 107728614A CN 201710858459 A CN201710858459 A CN 201710858459A CN 107728614 A CN107728614 A CN 107728614A
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- China
- Prior art keywords
- blind person
- map
- robot
- car body
- control unit
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The present invention relates to a kind of blind person's guided robot, and it includes robot car body, and one end connection and the hand-held guide rod of robot car body；Include in wherein described robot car body：Control unit, the map memory being connected with the control unit, speech recognition system and power set；Wherein described map memory is suitable to storage map datum, and after determining blind person's traveling destination by speech recognition system, drives robot car body to guide blind person to go to destination by power set；The present invention proposes a kind of blind person's guided robot, and it determines the traveling destination of blind person by speech recognition system, and drives robot car body to guide blind person to go to destination by power set, there is provided the function of similar seeing-eye dog.
Description
Technical field
Technical field the present invention relates to blind person with guided robot path planning, more particularly to a kind of blind person's vectoring aircraft
Device people and its method of work.
Background technology
At present, blind person's trip relies primarily on blind-guiding rod combination sidewalk for visually impaired people to realize.But such a trip mode is still given
Blind person brings inconvenience, such as blind-guiding rod not to have direction feeling, and sidewalk for visually impaired people has breakage or phenomena such as dead end highway occurs.
Therefore, it is that this area has technology to be solved to ask to design a kind of device that accurately, conveniently blind person can be guided to advance
Topic.
The content of the invention
For the above mentioned problem in background technology, the present invention proposes a kind of blind person's guided robot and its work side
Method.
In order to solve the above-mentioned technical problem, the invention provides a kind of blind person's guided robot, including
Robot car body, and one end connection and the hand-held guide rod of robot car body；Wherein
Include in the robot car body：Control unit, the map memory being connected with the control unit, speech recognition system and
Power set；Wherein
The map memory is suitable to storage map datum, and after determining blind person's traveling destination by speech recognition system,
Robot car body is driven to guide blind person to go to destination by power set.
Further, described control unit is also connected with detection of obstacles instrument；Wherein
Described control unit receives the detection of obstacles information of detection of obstacles instrument output and preserved to map memory, and on ground
Demarcated in diagram data, and then adjust the direct of travel of blind person's guided robot.
Further, the blind person is also included with guided robot：The infrared Edge check instrument being connected with described control unit；
During startup, blind person guides path of the blind person along destination direction to advance with guided robot, the infrared Edge check instrument
The edge of an advance is determined, the blind person is walked with guided robot along the edge, the barrier during traveling
Hinder the barrier of analyte detection instrument detection traveling, getting around barrier if it barrier be present on the path advanced continues on edge row
Enter, record the position of the barrier；And
The blind person is advanced with guided robot to terminate, and the cloth of barrier in course is determined according to the fullpath of traveling
Local figure.
Further, described control unit is suitable to resolve into the layout map with the approximate centerpoint of the layout map
N number of rectangular module, then N number of rectangular module is resolved into including M coordinate point module, the control according to coordinate system again
The rectangular module and coordinate point module are sent to map memory and preserved by unit；Wherein
Described N, M are natural number, and M is more than or equal to N；
When the blind person starts to advance with guided robot along coordinate points, if record barrier when changing coordinates point has barrier
Hinder the coordinate points position of thing, and continued on around the barrier, until the coordinate points of all clears are all by described blind
People is covered with guided robot, records the Obstacle Position of the map datum, and is recorded in the layout map, renewal ground
The storage information of figure memory.
Further, the layout map is resolved into N number of rectangular module, then again by N number of rectangular module according to coordinate system
Resolve into including M coordinate point module, i.e.,
The layout map is resolved into N number of rectangular module to be laid out the approximate centerpoint of map, when layout map presence can not
Then present and store with irregular figure during the region for forming rectangle, and the irregular figure is resolved into M coordinate points mould
Block.
Further, the approximate centerpoint is：When it is standard rectangular to be laid out map, approximate centerpoint is cornerwise friendship
Point；When it is circular to be laid out map, approximate centerpoint is its center of circle；When it is irregular figure to be laid out map, protruded with outermost
Point does four tangent lines and forms quadrangle, and approximate centerpoint is the diagonal intersection point of quadrangle.
Another aspect, present invention also offers a kind of method of work of blind person's guided robot, including：Robot car
Body, and one end connection and the hand-held guide rod of robot car body；Include in wherein described robot car body：Control unit, with
The control unit connected map memory, speech recognition system and power set；Wherein described map memory is suitable to storage
Map datum, and after determining blind person's traveling destination by speech recognition system, robot car body is driven by power set
Guiding blind person goes to destination.
The invention has the advantages that the present invention proposes a kind of blind person's guided robot and its method of work, it is logical
The traveling destination that speech recognition system determines blind person is crossed, and before driving robot car body to guide blind person by power set
Toward destination, there is provided the function of similar seeing-eye dog, and combination detection of obstacles instrument, infrared Edge check instrument can also be to rows
The barrier for entering route is modified to map, enable to walk again same route when quick avoiding obstacles, improve blind person
Traffic efficiency.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of blind person's guided robot of the present invention；
Fig. 2 is the theory diagram of blind person's guided robot of the present invention.
In figure, robot car body 1, hand-held guide rod 2,.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As depicted in figs. 1 and 2, the present embodiment proposes a kind of blind person includes robot car body 1, and one end with guided robot
Connection and the hand-held guide rod 2 of robot car body；Include in wherein described robot car body 1：Control unit and the control unit
Connected map memory, speech recognition system and power set；Wherein described map memory is suitable to storage map datum, and
And after by speech recognition system determining blind person's traveling destination, robot car body is driven to guide blind person to go to by power set
Destination.
Blind person can be by phonetic entry destination locations, and then realize navigation feature of this blind person with guided robot.
The present embodiment proposes a kind of blind person's guided robot, and it determines the traveling mesh of blind person by speech recognition system
Ground, and drive robot car body to guide blind person to go to destination by power set, there is provided the work(of similar seeing-eye dog
Energy.
Described control unit can use the industrial control board for including arm processor.Speech recognition system includes, at speech recognition
Reason device, sound pick-up and loudspeaker, the speech recognition system belong to prior art category；The power set include wheel, with
And the motor that driving moment rotates, the motor are connected with industrial control board.
Due to road often occur it is interim excavate or the phenomenon of construction, above-mentioned construction area due to the engineering time compared with
Short, map datum has little time to correct, and therefore, goes out guild to blind person and brings inconvenience.
Based on this purpose, in blind person's guided robot that the present embodiment provides, described control unit also with obstacle quality testing
Instrument is surveyed to be connected；Wherein described control unit receives the detection of obstacles information of detection of obstacles instrument output and preserved to map and stores
Device, and demarcated in map datum, and then adjust the direct of travel of blind person's guided robot.
Blind person's guided robot of the present embodiment, infrared radiation detection apparatus detection in edge is added in blind person's guided robot
Edge, along edge pathfinding, it can determine and map is laid out in course.
Specifically, the blind person is also included with guided robot：The infrared Edge check instrument being connected with described control unit；
During startup, blind person guides path of the blind person along destination direction to advance with guided robot, and the infrared Edge check instrument determines
The edge of one advance, the blind person are walked with guided robot along the edge, the barrier during traveling
The barrier that detector detection is advanced, barrier is got around if it barrier be present on the path advanced and continues on edge traveling,
Record the position of the barrier；And the blind person is advanced with guided robot and terminated, and is determined according to the fullpath of traveling
Go out the layout map of barrier in course.
The present embodiment propose a kind of blind person with guided robot herein in connection with detection of obstacles instrument, infrared Edge check instrument also
The barrier of course can be modified to map, enable to walk again same route when quick avoiding obstacles,
Improve blind person's traffic efficiency.
Described control unit is suitable to the layout map is resolved into N number of rectangle with the approximate centerpoint of the layout map
Module, then again resolving into N number of rectangular module according to coordinate system will including M coordinate point module, described control unit
Rectangular module and the coordinate point module sends to map memory and preserved；Wherein described N, M are natural number, and M is more than or equal to N；
When the blind person starts to advance with guided robot along coordinate points, if changing coordinates point records barrier when barrier be present
Coordinate points position, and continued on around the barrier, until the coordinate points of all clears are all used by the blind person
Guided robot is covered, and records the Obstacle Position of the map datum, and is recorded in the layout map, and renewal map is deposited
The storage information of reservoir.
The layout map is resolved into N number of rectangular module, N number of rectangular module is then resolved into bag according to coordinate system again
M coordinate point module is included, i.e., the layout map is resolved into N number of rectangular module to be laid out the approximate centerpoint of map, works as cloth
Local figure presence is then presented and stored with irregular figure when can not form the region of rectangle, and the irregular figure is decomposed
Into M coordinate point module.
The approximate centerpoint is：When it is standard rectangular to be laid out map, approximate centerpoint is cornerwise intersection point；Work as cloth
When local figure is circular, approximate centerpoint is its center of circle；When it is irregular figure to be laid out map, four are done with outermost projecting point
Tangent line forms quadrangle, and approximate centerpoint is the diagonal intersection point of quadrangle.
The present embodiment adds edge infrared radiation detection apparatus detection edge also in blind person's guided robot, is sought along edge
Road, it is determined that the whole layout map for carrying out route, resolves into multiple rectangular modules, then again by rectangular mold by layout map
Block resolves into the coordinate points in multiple coordinate systems, and pathfinding traveling is carried out according to coordinate points；Embodiment improves blind person's guiding
The accuracy of robot interior map datum, when making to repeat same routes, it is less likely to occur to collide during traveling, improves logical
Line efficiency.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of method of work of blind person's guided robot, including：Robot
Car body, and one end connection and the hand-held guide rod of robot car body；Include in wherein described robot car body：Control unit,
Map memory, speech recognition system and the power set being connected with the control unit；Wherein described map memory is suitable to deposit
Map datum is stored up, and after determining blind person's traveling destination by speech recognition system, robot car is driven by power set
Body guiding blind person goes to destination.
In the present embodiment 1, on control unit, and be connected with the control unit detection of obstacles instrument, infrared side
It has been set forth in embodiment 1 along the operation principle and working method of detector, here is omitted.With above-mentioned according to this implementation
The desirable embodiment of example is enlightenment, and by above-mentioned description, relevant staff completely can be without departing from this invention
In the range of technological thought, various changes and amendments are carried out.The technical scope of this invention is not limited to specification
On content, it is necessary to its technical scope is determined according to right.
Claims (7)
- A kind of 1. blind person's guided robot, it is characterised in that including：Robot car body, and one end connection and the hand-held guide rod of robot car body；WhereinInclude in the robot car body：Control unit, the map memory being connected with the control unit, speech recognition system and Power set；WhereinThe map memory is suitable to storage map datum, and after determining blind person's traveling destination by speech recognition system, Robot car body is driven to guide blind person to go to destination by power set.
- 2. blind person's guided robot according to claim 1, it is characterised in thatDescribed control unit is also connected with detection of obstacles instrument；WhereinDescribed control unit receives the detection of obstacles information of detection of obstacles instrument output and preserved to map memory, and on ground Demarcated in diagram data, and then adjust the direct of travel of blind person's guided robot.
- 3. blind person's guided robot according to claim 2, it is characterised in thatThe blind person is also included with guided robot：The infrared Edge check instrument being connected with described control unit；During startup, blind person guides path of the blind person along destination direction to advance with guided robot, the infrared Edge check instrument The edge of an advance is determined, the blind person is walked with guided robot along the edge, the barrier during traveling Hinder the barrier of analyte detection instrument detection traveling, getting around barrier if it barrier be present on the path advanced continues on edge row Enter, record the position of the barrier；AndThe blind person is advanced with guided robot to terminate, and the cloth of barrier in course is determined according to the fullpath of traveling Local figure.
- 4. blind person's guided robot according to claim 3, it is characterised in thatDescribed control unit is suitable to the layout map is resolved into N number of rectangular mold with the approximate centerpoint of the layout map Block, then N number of rectangular module is resolved into including M coordinate point module according to coordinate system again, described control unit is by institute State rectangular module and coordinate point module sends to map memory and preserved；WhereinDescribed N, M are natural number, and M is more than or equal to N；When the blind person starts to advance with guided robot along coordinate points, if record barrier when changing coordinates point has barrier Hinder the coordinate points position of thing, and continued on around the barrier, until the coordinate points of all clears are all by described blind People is covered with guided robot, records the Obstacle Position of the map datum, and is recorded in the layout map, renewal ground The storage information of figure memory.
- 5. blind person's guided robot according to claim 4, it is characterised in thatThe layout map is resolved into N number of rectangular module, then again resolved into N number of rectangular module including M according to coordinate system Individual coordinate point module, i.e.,The layout map is resolved into N number of rectangular module to be laid out the approximate centerpoint of map, when layout map presence can not Then present and store with irregular figure during the region for forming rectangle, and the irregular figure is resolved into M coordinate points mould Block.
- 6. blind person's guided robot according to claim 5, it is characterised in thatThe approximate centerpoint is：When it is standard rectangular to be laid out map, approximate centerpoint is cornerwise intersection point；When cloth is local When figure is circular, approximate centerpoint is its center of circle；When it is irregular figure to be laid out map, four tangent lines are done with outermost projecting point Quadrangle is formed, approximate centerpoint is the diagonal intersection point of quadrangle.
- A kind of 7. method of work of blind person's guided robot, it is characterised in that including：Robot car body, and one end connection and the hand-held guide rod of robot car body；WhereinInclude in the robot car body：Control unit, the map memory being connected with the control unit, speech recognition system and Power set；WhereinThe map memory is suitable to storage map datum, and after determining blind person's traveling destination by speech recognition system, Robot car body is driven to guide blind person to go to destination by power set.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710858459.9A CN107728614B (en) | 2017-09-21 | 2017-09-21 | Guide robot for blind people and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710858459.9A CN107728614B (en) | 2017-09-21 | 2017-09-21 | Guide robot for blind people and working method thereof |
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| CN107728614A true CN107728614A (en) | 2018-02-23 |
| CN107728614B CN107728614B (en) | 2023-02-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113235384A (en) * | 2021-06-02 | 2021-08-10 | 山西省交通新技术发展有限公司 | Road bridge is with road surface marking device with quick drying structure |
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| CN107728614B (en) | 2023-02-21 |
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